Date post: | 30-Dec-2015 |
Category: |
Documents |
Upload: | molly-newman |
View: | 213 times |
Download: | 0 times |
Inferring Multi-agent Activities from GPS Data
Henry Kautz & Adam Sadilek
Department of Computer ScienceUniversity of Rochester
Activity Recognition from GPS Most work to date on human activity
recognition from GPS data has focused ono Activities by individuals
· E.g.: Life-loggingo Aggregate activities of groups
· E.g.: Infer popular places for tour guide apps
Example: Route Prediction
Given a user's GPS history and current GPS data, infero The user's destinationo The route the user will takeo The user's transportation plan (foot, bus, car?)
Applicationso Provide just-in-time information o Smart GPS devices – e.g., assist with use of
public transportation
GPS readingzk-1 zk
Edge, velocity, positionxk-1 xk
qk-1 qk Data (edge) association
Time k-1 Time k
mk-1 mk Transportation mode
tk-1 tk Trip segment
gk-1 gk Goal
DBN Model of Transportation Plans
Liao, Patterson, Fox, & Kautz 2003
Joint Activities Goal:
o Model & recognize multi-agent activities from GPS data
o Focus on joint activities where agents play distinct role
Assumptionso We can write a qualitative commonsense theory
of the domain of activities· Our theory is partial and inconsistent
o We have access to locations of individuals· GPS data is noisy and incomplete
Applications
Eldercare: Monitoring Caregiving ActivitiesoMary is spending time with Susano John is taking Mary to her doctoroMeasures of social and familial engagement
are indicators of physical and mental health Strategic Analysis
o Battlefields or intelligence reportsoWho is doing what with who to whom?
Capture the Flag Domain
Rich but controlled domain of interactive activitieso Very similar to strategic applications
Ruleso Two teams, each has a territoryo A player can be captured when on the opponents'
territoryo A captured player cannot move until freed by a
teammateo Game ends when a player captures the opponents' flag
Constraints
Player location critical for recognizing eventso Capture requires players to be within an arm's
reach Consumer grade GPS loggers do not appear
to have required accuracyo Error: 1 – 10 meters, typically 3 meterso Relative error: no better!
· Differences in individual units much larger than systematic component of GPS error
Difficult Example 40 seconds later, we see:
o 13 isn't movingo Another defender, 6 isn't trying to capture 13o 12 is moving
Therefore, 7 must have captured 13!
Approach
Solve localization and joint activity recognition simultaneously for all players
Inputs:o Raw GPS data from each playero Spatial constraintso Rules of Capture the Flag
Output:oMost likely joint trajectory of all playerso Joint (and individual) activities
Relational Reasoning
This is a problem in relational inferenceo Estimate of each player's location & activities
affects estimates for other players Rules of the game are declarative and logical
o A player might cheat, but the rules are the rules! Tool: Markov Logic (Domingos 2006)
o Statistical-relational KR systemo Syntax: first-order logic + weightso Defines a conditional random field
Markov Logic Uses FOL to compactly describe a log
normal conditional random fieldo ground clause = feature functiono first-order formulas tie the weights of their
propositional groundingsoWeights are learned from data
p(x | y) ∝ exp wini (x)i
∑⎛⎝⎜⎞⎠⎟ where
ni (x) = number of groundings of clause i that are true in x
Example∀p,q enemies(p,q)⇒ ¬ friends(p,q)
∀p,q,t enemies(p,q)∧ nearby(p,q, t)( ) ⇒ capturing(p,q, t)
∀p,q friends(p,q)⇒ friends(q,p)
p,q ∈{A,B}, t ∈{2}
enemies(A,B)
friends(A,B)
capturing(A,B,2) nearby(A,B,2)
enemies(B,A)
capturing(B,A,2) nearby(B,A,2)
friends(B,A)
Inference: MaxWalkSAT (Kautz & Selman 1995)
1. Pick a random unsatisfied clause
2.
Flip a random atom
Flip the atom that maximizes the sum of the
weights of the satisfied clauses
p
1−p
Comparison
Baselineo Snap to nearest 3 meter cello If A next to B on A's territory, A captures Bo Expect high recall, low precision
Baseline+Stateso Like baseline, but keep memory of players state {captured, not
captured}o Expect better precision, possibly lower recall
2-Stage Markov Logic Modelo Find most likely explanation using ML theory about locationo Use as input to ML theory about capture
Unified Markov Logic Modelo Find most likely explanation using entire axiom set
Capture The Flag Dataset
3 games 2 teams, 7 players each GPS data logged each second Games are 4, 14, and 17 minutes long
length of game
(minutes)
# GPS readings
# Captures # Frees
Game 1 16 13,412 2 2
Game 2 17 14,400 2 2
Game 3 4 3,472 6 0
Game 4 12 10,450 3 1
Total 49 31,284 10 5
Discovering Failed Activities
In many applications (e.g. strategic analysis) it is as important to recognize failed attempts to perform an activity, as to recognize successful activities
A failed attempt is similar to a successful attempt, but does not achieve the purpose of the activity
Can we automatically extend a theory of activities to discover failed attempts?
Learning Failed Attempts
Giveno A theory of successful activitieso One or more examples of failed activities
Determine how to weaken the definition of the activity so that it also covers the failures
The removed constraints = the intention or purpose of the activity
Add negation of purpose to definition of failed activity
Capture The Flag Dataset
Failed attempts much more common than successful activitieso SC = successful captureo FC = failed captureo SF = success freeingo FF = Failed freeing
Activity Discovery
The approach just described required a domain-specific background theory and a modest amount of labeled training data
Suppose we did not know the rules of Capture the Flag?o Inductive logic programming techniques can be used
to learn clauses as well as weights from labeled datao But we still would need to know the rules in order to
label the data! How can we discover the interesting interactions
and domain-specific rules?
Activity Discovery
Speculation: we can develop a general, domain-independent theory of interesting interactions
Find and cluster interesting interactions in order to discover interaction types (in ML, the predicates)
The "failed activities" (and thus intentions) will be a cluster near the successful cluster
Interesting Interactions
Elements of a general theory of interactions:o The agents are perceptually available to each othero Behavior of one agent can be well predicted by the behavior
of the other agents during the interactiono An interaction may change some (hidden) state of an
individualo Changes in the long term behavior of an individual are
evidence of such a state change How to represent this general theory?
o As a higher-order Markov Logic theory?o As interacting time series (individuals, pairs of individuals,
triples, etc)?
Summary
Joint activities can be recognized with high precision from GPS data, even the face of overwhelming noise, by leveraging qualitative domain knowledge encoded in a statistical-relational language
The purpose of an activity can be inferred by comparing successful and failed attempts
Approach is general, extensible, and has practical applications
Interesting challenge: discovering joint activities